地电位带电作业爬杆机器人结构设计  

Structure Design of Pole Climbing Robot for Live Working on Ground Potential

作　　者：吕潜龙 吴少雷 唐旭明 阮学云[1] LV Qian-long;WU Shao-lei;TANG Xu-ming;RUAN Xue-yun(School of Mechanical Engineering,Anhui University of Science and Technology,Anhui Huainan 232001,China;Anhui Electric Power Research Institute,Anhui Hefei 230031,China;Huainan Power Supply Company of State Grid Anhui Electric Power Co.,Ltd.,Anhui Huainan 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001 [2]安徽电力科学研究院,安徽合肥230031 [3]国网安徽省电力有限公司淮南供电公司,安徽淮南232001

出　　处：《机械设计与制造》2023年第6期272-276,共5页Machinery Design & Manufacture

基　　金：国网安徽省电力有限公司科技项目(5212F0170004);国网安徽省电力有限公司科技项目(52120519002B)。

摘　　要：为实现配电线路杆塔的检修以及线路检测设备的承送,提出一种兼具攀爬、越障、绕杆旋转及负载带电作业等功能的爬杆机器人—地电位带电作业爬杆机器人。根据机器人攀爬力学,对机器人不滑落条件进行分析,得到机器人在负载22kg时,只需138.65N以上的夹紧力就可稳定攀爬;运用ANSYS Workbench软件对机器人整体进行静力学分析,并对薄弱部件结构进行分析,结果表明,其结构强度满足设计要求。根据理论计算结果,搭建试验样机对机器人进行载重攀爬测试,实验表明,机器人22kg负载条件下,攀爬速度达到0.2m/s,绕杆旋转速度为2.5r/min,能承受70kg负载,末端可在两侧30°摆动范围内进行带电作业。该机器人可代替人工进行高空作业,将为电力行业自动化的发展提供可靠的参考依据。In order to realize the maintenance of distribution line tower and the transmission of line detection equipment,a pole climbing robot with functions of climbing,obstacle crossing,rotating around the pole and live working with load is proposed.According to the climbing mechanics of the robot,the condition of the robot without sliding is analyzed.It is concluded that the robot can climb stably with a clamping force of 138.65N when the load is 22kg.The static analysis of the whole robot is carried out by using ANSYS Workbench software,and the structure of the weak parts is analyzed.The results show that the structural strength meets the design requirements.According to the theoretical calculation results,an experimental prototype is built to test the load climbing of the robot.The experiment shows that under the condition of 22kg load,the climbing speed of the robot reaches 0.2m/s,the rotation speed of the rod is 2.5r/min,and it can bear 70kg load,and the end can be live working within the range of 30°swing on both sides.The robot can replace manual work at high altitude,which will provide a reliable reference for the development of power industry automation.

关 键 词：配电线路 攀爬机器人 地电位 带电作业 静力学仿真 现场测试 

分 类 号：TH16[机械工程—机械制造及自动化] TB534.2[理学—物理]